to serve
hupereteo describes providing practical assistance to a person, a group, or material needs.
The attested use describes practical assistance rendered in differing settings: David's action toward his own generation, labor meeting necessities, and associates being allowed to attend to a detained man.
Senses in use
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Providing practical assistance · dominant
In Acts 13:36, the aorist active participle describes David in relation to his own generation; the APB renders the clause “having served his own generation by the plan of God.” In Acts 20:34, the aorist active indicative refers to hands meeting the speaker's necessities and those with him, while Acts 24:23 uses a present active infinitive for the detained man's own people being permitted to attend to him.
In the Anselm Project Bible: The APB presents the three clauses with “having served,” “ministered to my necessities,” and “serving him.” These expressions confirm the clauses' overall presentation rather than isolating a separate English rendering in each case.